ardupilot-methodic-configurator 1.2.1__py3-none-any.whl → 1.2.3__py3-none-any.whl

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,1247.871253
+INS_TCAL1_ACC1_Y,-892.049074
+INS_TCAL1_ACC1_Z,1207.190784
+INS_TCAL1_ACC2_X,9.275325
+INS_TCAL1_ACC2_Y,7.95377
+INS_TCAL1_ACC2_Z,-5.040771
+INS_TCAL1_ACC3_X,0.179681
+INS_TCAL1_ACC3_Y,0.077449
+INS_TCAL1_ACC3_Z,0.352091
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,-427.997725
+INS_TCAL1_GYR1_Y,-236.667872
+INS_TCAL1_GYR1_Z,62.792552
+INS_TCAL1_GYR2_X,-4.177657
+INS_TCAL1_GYR2_Y,2.301449
+INS_TCAL1_GYR2_Z,2.299436
+INS_TCAL1_GYR3_X,-0.048497
+INS_TCAL1_GYR3_Y,-0.097145
+INS_TCAL1_GYR3_Z,0.009888
+INS_TCAL1_TMAX,65.2
+INS_TCAL1_TMIN,-27.7
+INS_TCAL2_ACC1_X,4815.212183
+INS_TCAL2_ACC1_Y,-6441.654764
+INS_TCAL2_ACC1_Z,-2473.756444
+INS_TCAL2_ACC2_X,-1.253624
+INS_TCAL2_ACC2_Y,29.489815
+INS_TCAL2_ACC2_Z,26.796802
+INS_TCAL2_ACC3_X,-1.031975
+INS_TCAL2_ACC3_Y,2.179269
+INS_TCAL2_ACC3_Z,0.696695
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,-184.261849
+INS_TCAL2_GYR1_Y,-127.112597
+INS_TCAL2_GYR1_Z,-61.481195
+INS_TCAL2_GYR2_X,-1.610635
+INS_TCAL2_GYR2_Y,3.901947
+INS_TCAL2_GYR2_Z,-0.582771
+INS_TCAL2_GYR3_X,-0.020563
+INS_TCAL2_GYR3_Y,0.04004
+INS_TCAL2_GYR3_Z,-0.015436
+INS_TCAL2_TMAX,63.7
+INS_TCAL2_TMIN,-30.1
+INS_TCAL3_ACC1_X,-1465.066631
+INS_TCAL3_ACC1_Y,458.876384
+INS_TCAL3_ACC1_Z,2544.281946
+INS_TCAL3_ACC2_X,3.881862
+INS_TCAL3_ACC2_Y,6.304407
+INS_TCAL3_ACC2_Z,16.704325
+INS_TCAL3_ACC3_X,1.217049
+INS_TCAL3_ACC3_Y,-0.670616
+INS_TCAL3_ACC3_Z,-1.336885
+INS_TCAL3_ENABLE,1
+INS_TCAL3_GYR1_X,-311.394615
+INS_TCAL3_GYR1_Y,44.271917
+INS_TCAL3_GYR1_Z,46.22566
+INS_TCAL3_GYR2_X,-0.843643
+INS_TCAL3_GYR2_Y,1.902223
+INS_TCAL3_GYR2_Z,-0.561675
+INS_TCAL3_GYR3_X,0.004107
+INS_TCAL3_GYR3_Y,-0.061594
+INS_TCAL3_GYR3_Z,0.019881
+INS_TCAL3_TMAX,57.3
+INS_TCAL3_TMIN,-27.7

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/04_board_orientation.param

@@ -0,0 +1,4 @@
+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+BRD_HEAT_TARG,45  # Reset to default after offline IMU temperature calibration
+LOG_BITMASK,145118  # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,0  # It's was arming method from begin so I keep it
+BRD_ALT_CONFIG,0  # I choose 0 to be default.
+RC_OPTIONS,32  # I choose 32 to be default.
+RC_PROTOCOLS,16  # Selected in the component editor
+RC10_OPTION,17
+RC6_OPTION,0  # I don't use.
+RC7_OPTION,0  # I don't use.
+RC8_OPTION,0  # I have only 10 channels
+RC9_OPTION,99  # I use 99 to AUTO RTL.
+RSSI_TYPE,0  # radio without RSSI

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/06_telemetry.param

@@ -0,0 +1,2 @@
+BRD_SER1_RTSCTS,2  # we have no RTS/CTS pins connected
+SERIAL1_BAUD,57  # P840 telemetry baud.

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/08_batt1.param

@@ -0,0 +1,15 @@
+BATT_AMP_PERVLT,17
+BATT_ARM_VOLT,23.6  # Don’t allow arming below this voltage
+BATT_CAPACITY,30000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # No capacity based failsafes, too unreliable
+BATT_CRT_VOLT,21.3  # (Critical voltage + 0.0) x no. of cells
+BATT_FS_CRT_ACT,1  # Land ASAP
+BATT_FS_LOW_ACT,2  # Return and land at home or rally point
+BATT_FS_VOLTSRC,1  # Use sag-compensated voltage limits
+BATT_I2C_BUS,4  # Selected in component editor window
+BATT_LOW_MAH,0  # No capacity based failsafes, too unreliable
+BATT_LOW_VOLT,21.6  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4  # Selected in component editor window
+BATT_VOLT_MULT,12.1
+MOT_BAT_VOLT_MAX,25.2  # (Max voltage + 0.0) x no. of cells
+MOT_BAT_VOLT_MIN,21.3  # (Critical voltage + 0.0) x no. of cells

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,14300  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,14300  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,8000  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,1.3  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTD,0  # Initial value, will be improved at a later step
+ATC_RAT_YAW_FLTE,2  # Initial value, will be improved at a later step
+ATC_RAT_YAW_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_THR_MIX_MAN,0.1  # Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned
+INS_ACCEL_FILTER,10  # The default is 20Hz but that is too high in most situations
+INS_GYRO_FILTER,20  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.8  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,82 @@
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+ATC_ACCEL_P_MAX,14300
+ATC_ACCEL_R_MAX,14300
+ATC_ACCEL_Y_MAX,8000
+ATC_RAT_PIT_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_FLTT,10  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,0
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,97539
+COMPASS_USE2,1
+COMPASS_USE3,1
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_RADIUS,300
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,2
+FLTMODE5,0
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,45.290325
+INS_ACC2_CALTEMP,43.810135
+INS_ACC2SCAL_X,1
+INS_ACC2SCAL_Y,1
+INS_ACC2SCAL_Z,1
+INS_ACC3SCAL_X,1
+INS_ACC3SCAL_Y,1
+INS_ACC3SCAL_Z,1
+INS_ACCSCAL_X,1
+INS_ACCSCAL_Y,1
+INS_ACCSCAL_Z,1
+INS_GYRO_FILTER,20
+INS_USE3,1
+MOT_BAT_VOLT_MAX,26.1
+MOT_BAT_VOLT_MIN,19.799999
+MOT_SPIN_ARM,0.06
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.09
+MOT_THST_EXPO,0.82
+MOT_THST_HOVER,0.2
+RC1_MAX,1931
+RC1_MIN,1068
+RC1_TRIM,1497
+RC10_MAX,1932
+RC10_MIN,1057
+RC10_TRIM,1057
+RC2_MAX,1918
+RC2_MIN,1068
+RC2_TRIM,1453
+RC3_MAX,1911
+RC3_MIN,1063
+RC3_TRIM,1063
+RC4_MAX,1931
+RC4_MIN,1068
+RC4_TRIM,1495
+RC5_MAX,1933
+RC5_MIN,1066
+RC5_TRIM,1066
+RC6_MAX,1900
+RC6_MIN,1100
+RC6_TRIM,1500
+RC7_MAX,1395
+RC7_MIN,1378
+RC7_TRIM,1395
+RC8_MAX,1900
+RC8_MIN,1100
+RC8_TRIM,1500
+RC9_MAX,1933
+RC9_MIN,1066
+RC9_TRIM,1066
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/13_general_configuration.param

@@ -0,0 +1,18 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+AUTO_OPTIONS,3
+BRD_HEAT_TARG,48  # Operate at a constant IMU temperature
+BRD_RTC_TZ_MIN,180  # Lithuania time zone
+EK3_SRC1_POSZ,1  # Use the default, it is safer
+FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
+FS_EKF_ACTION,1  # Use the default, it is safer
+INS_ACCEL_FILTER,10  # the default is 20 and that lets too much noise in
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,200  # come down fast and only slow down close to the ground. We have a good GNSS receiver, so thrust it
+RTL_ALT,500  # This vehicle will never fly indoors
+RTL_LOIT_TIME,1000  # The default is too long. This reduces the time
+SCHED_LOOP_RATE,400  # Stay on default loop rate, this is a slow vehicle
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation
+SERIAL7_PROTOCOL,-1  # Do not use CubeOrange ADSB receiver

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_CNT,512  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
+INS_LOG_BAT_MASK,0  # Use acc and gyro batch logging on F4 processors, gyro raw logging on others
+INS_LOG_BAT_OPT,0  # Use pre and post filters acc and gyro batch logging on F4 processors, pre-post gyro raw logging on others
+INS_RAW_LOG_OPT,9  # Use pre and post filters acc and gyro batch logging on F4 processors, pre-post gyro raw logging on others
+LOG_BITMASK,145118  # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now
+LOG_FILE_DSRMROT,1  # One .bin log file per flight, not per battery/reboot

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/16_pid_adjustment.param

@@ -0,0 +1,13 @@
+ATC_ANG_PIT_P,6
+ATC_ANG_RLL_P,5.2
+ATC_ANG_YAW_P,3
+ATC_INPUT_TC,0.17  # Make the RC feel a bit slower than default
+ATC_RAT_PIT_D,0.002781  # (0.0036 default)
+ATC_RAT_PIT_I,0.085568  # = 1.283176 * (0.135 default)
+ATC_RAT_PIT_P,0.085568  # = 1.283176 * (0.135 default)
+ATC_RAT_RLL_D,0.00309  # = 0.690593 * (0.0036 default)
+ATC_RAT_RLL_I,0.095506  # = 1.061015 * (0.135 default)
+ATC_RAT_RLL_P,0.095506  # = 1.061015 * (0.135 default)
+ATC_RAT_YAW_D,0  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.025  # = 2.514026 * (0.018 default)
+ATC_RAT_YAW_P,0.25  # = 2.514026 * (0.18 default)

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/22_quick_tune_setup.param

@@ -0,0 +1,14 @@
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,1  # Use VTOL-Quicktune lua script to estimate a good PID starting values
+QUIK_GAIN_MARGIN,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,10  # Height difference between the highest and lowest point of the eight
+MAGH_B,1.2  # Geometric factor for the width of the eight
+MAGH_CMD,117  # Script_Time command value for identification of the script
+MAGH_COUNT,6  # Number of times the drone repeats the eight
+MAGH_LOG_ENABLE,1  # Activates the logging of the MAGH.Active message
+MAGH_MIN_SPEED,5  # Starting speed for the mission; slowly adjusts to the general speed in auto-missions
+MAGH_NUM_WP,18  # Number of waypoints from which the eight is built
+MAGH_USE_LOITER,0  # Sets a Loiter_unlimited command at the beginning of the mission to check the generated waypoints

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,14 @@
+COMPASS_DIA_X,1.033  # Diagonal X component for static compensation of metal in the frame
+COMPASS_DIA_Y,1.032  # Diagonal Y component for static compensation of metal in the frame
+COMPASS_DIA_Z,0.842  # Diagonal Z component for static compensation of metal in the frame
+COMPASS_MOT_X,0.195  # Correction value for motor currents in X direction
+COMPASS_MOT_Y,0.394  # Correction value for motor currents in Y direction
+COMPASS_MOT_Z,-1.366  # Correction value for motor currents in Z direction
+COMPASS_MOTCT,2  # Type of interference compensation; two means current-based compensation
+COMPASS_ODI_X,0.001  # Off-diagonal X component for static compensation of metal in the frame
+COMPASS_ODI_Y,-0.07  # Off-diagonal Y component for static compensation of metal in the frame
+COMPASS_ODI_Z,0.083  # Off-diagonal Z component for static compensation of metal in the frame
+COMPASS_OFS_X,313  # Lateral compass offset to the X axis for static compensation of metal in the frame
+COMPASS_OFS_Y,-42  # Lateral compass offset to the Y axis for static compensation of metal in the frame
+COMPASS_OFS_Z,214  # Lateral compass offset to the Z axis for static compensation of metal in the frame
+COMPASS_SCALE,1  # Scaling factor for compensation

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/26_quick_tune_setup.param

@@ -0,0 +1,16 @@
+INS_RAW_LOG_OPT,0  # Notch filters are configured, log less
+LOG_BITMASK,145406  # Notch filters are configured, log less
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,1  # enables quiktune script
+QUIK_GAIN_MARGIN,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.00659
+ATC_RAT_PIT_I,0.412175
+ATC_RAT_PIT_P,0.412175
+ATC_RAT_RLL_D,0.003622
+ATC_RAT_RLL_I,0.251225
+ATC_RAT_RLL_P,0.251225
+ATC_RAT_YAW_D,0.01
+ATC_RAT_YAW_FLTD,57.5
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/28_evaluate_the_aircraft_tune_ff_disable.param

@@ -0,0 +1,4 @@
+ATC_RATE_FF_ENAB,0  # test the stabilization loops independent of the input shaping
+INS_LOG_BAT_MASK,0  # IMU batch logging no longer required, notch filter setup is complete, this reduces processor load and log file size
+INS_RAW_LOG_OPT,0  # Gyro raw logging no longer required, notch filter setup is complete, this reduces processor load and log file size
+LOG_BITMASK,145118  # Disable fast harmonic notch logging

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/29_evaluate_the_aircraft_tune_ff_enable.param

@@ -0,0 +1 @@
+ATC_RATE_FF_ENAB,1  # re-enable normal operation, activate input shaping

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/30_autotune_roll_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,1  # Autotune roll axis

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/31_autotune_roll_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_R_MAX,507500
+ATC_ANG_RLL_P,36  # higher value mean a tighter tune
+ATC_RAT_RLL_D,0.005009
+ATC_RAT_RLL_I,0.290809
+ATC_RAT_RLL_P,0.290809

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/32_autotune_pitch_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,2  # Autotune pitch axis

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/33_autotune_pitch_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_P_MAX,360201.2
+ATC_ANG_PIT_P,28.51195  # higher value mean a tighter tune
+ATC_RAT_PIT_D,0.009136
+ATC_RAT_PIT_I,0.56224
+ATC_RAT_PIT_P,0.56224

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/35_autotune_yaw_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,57198.53
+ATC_ANG_YAW_P,8.714352  # higher value mean a tighter tune
+ATC_RAT_YAW_FLTE,2.316456
+ATC_RAT_YAW_I,0.102319
+ATC_RAT_YAW_P,1.023194

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/36_autotune_yawd_setup.param

@@ -0,0 +1,3 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,8  # Autotune yaw D axis
+AUTOTUNE_MIN_D,0.0001  # small copters need small D parameters

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/37_autotune_yawd_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,91119.27
+ATC_ANG_YAW_P,14.52818
+ATC_RAT_YAW_D,0.003508  # if == to AUTOTUNE_MIN_D, autotune failed
+ATC_RAT_YAW_I,0.090505
+ATC_RAT_YAW_P,0.905049

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/38_autotune_roll_pitch_retune_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,3  # Autotune roll and pitch axis

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/39_autotune_roll_pitch_retune_results.param

@@ -0,0 +1,10 @@
+ATC_ACCEL_P_MAX,339368.9
+ATC_ACCEL_R_MAX,490096.8
+ATC_ANG_PIT_P,31.19081  # higher value mean a tighter tune
+ATC_ANG_RLL_P,36  # higher value mean a tighter tune
+ATC_RAT_PIT_D,0.006667
+ATC_RAT_PIT_I,0.346457
+ATC_RAT_PIT_P,0.346457
+ATC_RAT_RLL_D,0.004972
+ATC_RAT_RLL_I,0.286474
+ATC_RAT_RLL_P,0.286474

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/40_windspeed_estimation.param

@@ -0,0 +1,5 @@
+EK3_DRAG_BCOEF_X,0
+EK3_DRAG_BCOEF_Y,0
+EK3_DRAG_MCOEF,0
+LOG_DISARMED,1  # allow post flight tuning with Replay
+LOG_REPLAY,1  # allow post flight tuning with Replay

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/42_system_id_roll.param

@@ -0,0 +1,21 @@
+ANGLE_MAX,2000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,540126  # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 30175)
+ATC_ANG_PIT_P,4.5  # reset to default to not interfere with sysID
+ATC_ANG_RLL_P,4.5  # reset to default to not interfere with sysID
+ATC_ANG_YAW_P,4.5  # reset to default to not interfere with sysID
+ATC_RAT_RLL_I,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+FLTMODE5,25  # Activate sysid instead of autotune
+LOG_BITMASK,176127  # attitude sample rate at loop rate
+LOG_DISARMED,0  # was only needed for wind speed estimation
+LOG_REPLAY,0  # was only needed for wind speed estimation
+SID_AXIS,10  # Inject chip on the mixer roll signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,5
+SID_MAGNITUDE,0.15
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130
+TUNE,0  # System identification magnitude
+TUNE_MAX,0.4  # System identification max magnitude
+TUNE_MIN,0.02  # System identification min magnitude

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/43_system_id_pitch.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RAT_RLL_I,0.290809  # we are not performing system identification on the roll axis, so restore it to the autotuned value
+ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,11  # Inject chip on the mixer pitch signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,5
+SID_MAGNITUDE,0.15
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/44_system_id_yaw.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0.193122  # we are not performing system identification on the pitch axis, so restore it to the autotuned value
+ATC_RAT_YAW_I,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,12  # Inject chip on the mixer yaw signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,5
+SID_MAGNITUDE,0.55
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/45_system_id_thrust.param

@@ -0,0 +1,10 @@
+ATC_RAT_YAW_I,0.061538  # we are not performing system identification on the yaw axis, so restore it to the autotuned value
+ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+PSC_ACCZ_I,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,13  # Inject chip on the mixer thrust signal
+SID_F_START_HZ,0.2
+SID_F_STOP_HZ,10
+SID_MAGNITUDE,0.12
+SID_T_FADE_IN,10
+SID_T_FADE_OUT,5
+SID_T_REC,100

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/47_position_controller.param

@@ -0,0 +1,13 @@
+ANGLE_MAX,3000
+LOG_BITMASK,145150  # Add Navigation logging
+LOIT_ACC_MAX,600
+LOIT_BRK_ACCEL,300
+LOIT_BRK_DELAY,0.6
+LOIT_BRK_JERK,300
+PSC_VELXY_FF,0.85  # PSCN.AE/PSCN.VE if you have flown North-South or PSCE.AE/PSCE.VE if you have flown East-West
+WPNAV_ACCEL,400  # high speed missions in auto
+WPNAV_ACCEL_C,800  # 2 * WPNAV_ACCEL so that the cornering behaviour is mostly controlled by WPNAV_RADIUS https://github.com/ArduPilot/ardupilot/pull/25928
+WPNAV_ACCEL_Z,200  # high speed missions in auto
+WPNAV_JERK,5  # high speed missions in auto
+WPNAV_SPEED,2000  # high speed missions in auto
+WPNAV_SPEED_DN,250  # high speed missions in auto

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/49_precision_land.param

@@ -0,0 +1,27 @@
+EK3_RNG_M_NSE,0.1
+EK3_RNG_USE_HGT,70
+LAND_ALT_LOW,800
+LAND_SPEED,30
+PLND_ACC_P_NSE,2.5
+PLND_ALT_MAX,8
+PLND_ALT_MIN,0.75
+PLND_BUS,-1
+PLND_CAM_POS_X,0.14
+PLND_CAM_POS_Y,0
+PLND_CAM_POS_Z,0.05
+PLND_ENABLED,1
+PLND_EST_TYPE,0
+PLND_LAG,0.24
+PLND_LAND_OFS_X,0
+PLND_LAND_OFS_Y,0
+PLND_OPTIONS,0
+PLND_RET_BEHAVE,0
+PLND_RET_MAX,4
+PLND_STRICT,1
+PLND_TIMEOUT,4
+PLND_TYPE,1
+PLND_XY_DIST_MAX,0
+PLND_YAW_ALIGN,0
+PSC_POSXY_P,1.5
+RC10_OPTION,28  # Relay On/Off to activate precision landing light
+RC11_OPTION,39  # Precision loiter

ardupilot_methodic_configurator-1.2.3.data/data/vehicle_templates/ArduCopter/X11_plus/53_everyday_use.param

@@ -0,0 +1,7 @@
+ATC_THR_MIX_MAX,0.7  # according to autotune documentation this should be raised up-to 0.9 after the tune
+BATT_FS_LOW_ACT,2  # outdoors we want the drone to come back
+BATT2_FS_LOW_ACT,2  # outdoors we want the drone to come back
+LOG_BITMASK,144348  # 2:GPS,3:System Performance,4:Control Tuning,6:RC input,7:IMU,8:Mission Commands,9:Battery Monitor,12:PID,13:Compass,17:Motors
+MIS_OPTIONS,4
+RTL_ALT,500  # The default is too high for the kind of flights we do. This reduces the altitude for outdoors
+RTL_CLIMB_MIN,100  # always rise at least 1 meter as a visual indicator